CN111650575B - Obstacle detection method, device, electronic device and storage medium - Google Patents
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Abstract
Description
Translated fromChinese技术领域technical field
本申请涉及电子技术领域，具体涉及一种障碍物检测方法、装置、电子设备及存储介质。The present application relates to the field of electronic technology, in particular to an obstacle detection method, device, electronic equipment and storage medium.
背景技术Background technique
使用超宽带(ultra wide band，UWB)技术进行测距或者进行物品查找时，两个检测对象与被检测对象之间可能存在较大的障碍物，此时UWB芯片发射的信号的传播路径为非视距信道。此种情况下，难以判断检测对象与被检测对象之间是否存在障碍物。When using ultra wide band (UWB) technology for distance measurement or item search, there may be a large obstacle between the two detection objects and the detected object. At this time, the propagation path of the signal emitted by the UWB chip is non- Line of sight channel. In this case, it is difficult to determine whether there is an obstacle between the detection object and the detected object.
发明内容SUMMARY OF THE INVENTION
本申请实施例提供了一种障碍物检测方法、装置、电子设备及存储介质，能够在使用UWB技术进行测距时，快速地识别电子设备与目标装置之间是否存障碍物。The embodiments of the present application provide an obstacle detection method, device, electronic equipment and storage medium, which can quickly identify whether there is an obstacle between the electronic equipment and the target device when UWB technology is used for distance measurement.
第一方面，本申请实施例提供一种障碍物检测方法，应用于电子设备，所述电子设备包括第一UWB芯片，所述电子设备与目标装置通信连接，所述方法包括如下步骤：In the first aspect, an embodiment of the present application provides an obstacle detection method, which is applied to an electronic device, the electronic device includes a first UWB chip, and the electronic device is connected to a target device through communication. The method includes the following steps:
通过所述第一UWB芯片以第一发射功率向所述目标装置发送第一双向测距TWR请求数据包；sending a first two-way ranging TWR request packet to the target device with a first transmission power through the first UWB chip;
若预设时间间隔内未接收到来自于所述目标装置的第一TWR响应数据包，在第一预设时间段内通过所述第一UWB芯片以第二发射功率向所述目标装置发送第二TWR请求数据包，其中，所述第二发射功率大于所述第一发射功率；If the first TWR response data packet from the target device is not received within the preset time interval, send the first TWR response packet to the target device with the second transmission power through the first UWB chip within the first preset time period Two TWR request data packets, wherein the second transmit power is greater than the first transmit power;
若接收到来自于所述目标装置的第二TWR响应数据包，根据所述第二TWR响应数据包确定第一距离值，所述第二TWR响应数据包是所述目标装置以不小于所述第二发射功率的发射功率向所述电子设备发送的响应数据包；If a second TWR response data packet from the target device is received, the first distance value is determined according to the second TWR response data packet, and the second TWR response data packet is the distance of the target device not less than the a response data packet sent to the electronic device by the transmit power of the second transmit power;
若所述第一距离值小于预设距离阈值，确定所述电子设备与所述目标装置之间存在障碍物。If the first distance value is less than a preset distance threshold, it is determined that there is an obstacle between the electronic device and the target device.
第二方面，本申请实施例提供一种障碍物检测装置，应用于电子设备，所述电子设备包括第一UWB芯片，所述电子设备与目标装置通信连接，所述装置包括：In the second aspect, an embodiment of the present application provides an obstacle detection device, which is applied to an electronic device, the electronic device includes a first UWB chip, and the electronic device is connected to a target device in communication, and the device includes:
发送单元，用于通过所述第一UWB芯片以第一发射功率向所述目标装置发送第一双向测距TWR请求数据包；A sending unit, configured to send a first two-way ranging TWR request packet to the target device with a first transmission power through the first UWB chip;
所述发送单元，还用于若预设时间间隔内未接收到来自于所述目标装置的第一TWR响应数据包，在第一预设时间段内通过所述第一UWB芯片以第二发射功率向所述目标装置发送第二TWR请求数据包，其中，所述第二发射功率大于所述第一发射功率；The sending unit is further configured to transmit a second TWR packet through the first UWB chip within a first preset time period if the first TWR response data packet from the target device is not received within a preset time interval. sending a second TWR request packet to the target device, wherein the second transmit power is greater than the first transmit power;
确定单元，用于若接收到来自于所述目标装置的第二TWR响应数据包，根据所述第二TWR响应数据包确定第一距离值，所述第二TWR响应数据包是所述目标装置以不小于所述第二发射功率的发射功率向所述电子设备发送的响应数据包；A determining unit, configured to determine a first distance value according to the second TWR response data packet if a second TWR response data packet from the target device is received, and the second TWR response data packet is the target device sending a response data packet to the electronic device with a transmit power not less than the second transmit power;
所述确定单元，还用于若所述第一距离值小于预设距离阈值，确定所述电子设备与所述目标装置之间存在障碍物。The determining unit is further configured to determine that there is an obstacle between the electronic device and the target device if the first distance value is less than a preset distance threshold.
第三方面，本申请实施例提供一种电子设备，包括第一UWB芯片处理器、存储器、通信接口以及一个或多个程序，其中，上述一个或多个程序被存储在上述存储器中，并且被配置由上述处理器执行，上述程序包括用于执行本申请实施例第一方面中的步骤的指令。In a third aspect, an embodiment of the present application provides an electronic device, including a first UWB chip processor, a memory, a communication interface, and one or more programs, wherein the above one or more programs are stored in the above memory, and are The configuration is performed by the above-mentioned processor, and the above-mentioned program includes instructions for executing the steps in the first aspect of the embodiments of the present application.
第四方面，本申请实施例提供了一种计算机可读存储介质，其中，上述计算机可读存储介质存储用于电子数据交换的计算机程序，其中，上述计算机程序使得计算机执行如本申请实施例第一方面中所描述的部分或全部步骤。In a fourth aspect, the embodiment of the present application provides a computer-readable storage medium, wherein the above-mentioned computer-readable storage medium stores a computer program for electronic data exchange, wherein the above-mentioned computer program enables the computer to execute Some or all of the steps described in one aspect.
第五方面，本申请实施例提供了一种计算机程序产品，其中，上述计算机程序产品包括存储了计算机程序的非瞬时性计算机可读存储介质，上述计算机程序可操作来使计算机执行如本申请实施例第一方面中所描述的部分或全部步骤。该计算机程序产品可以为一个软件安装包。In a fifth aspect, the embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to enable the computer to execute the program as implemented in the present application. Some or all of the steps described in the first aspect. The computer program product may be a software installation package.
实施本申请实施例，具备如下有益效果：Implementing the embodiment of the present application has the following beneficial effects:
可以看出，本申请实施例中提供的障碍物检测方法、装置、电子设备及存储介质，应用于电子设备，电子设备包括第一UWB芯片，电子设备与目标装置通信连接，通过第一UWB芯片以第一发射功率向目标装置发送第一双向测距TWR请求数据包；若预设时间间隔内未接收到来自于目标装置的第一TWR响应数据包，在第一预设时间段内以第二发射功率向目标装置发送第二TWR请求数据包，其中，第二发射功率大于第一发射功率；若接收到来自于目标装置的第二TWR响应数据包，根据第二TWR响应数据包确定第一距离值，第二TWR响应数据包是目标装置以不小于第二发射功率的发射功率向电子设备发送的响应数据包；若第一距离值小于预设距离阈值，确定电子设备与目标装置之间存在障碍物，如此，能够在使用UWB技术进行测距或定位时，快速地识别电子设备与目标装置之间是否存障碍物。It can be seen that the obstacle detection method, device, electronic equipment, and storage medium provided in the embodiments of the present application are applied to electronic equipment, the electronic equipment includes a first UWB chip, and the electronic equipment communicates with the target device. Sending a first two-way ranging TWR request data packet to the target device with the first transmission power; if the first TWR response data packet from the target device is not received within the preset time interval, within the first preset time period with the first Send a second TWR request data packet to the target device with two transmission powers, wherein the second transmission power is greater than the first transmission power; if a second TWR response data packet from the target device is received, determine the second TWR response data packet according to the second TWR response data packet A distance value, the second TWR response data packet is a response data packet sent by the target device to the electronic device with a transmission power not less than the second transmission power; if the first distance value is less than the preset distance threshold, determine the distance between the electronic device and the target device In this way, when using UWB technology for distance measurement or positioning, it is possible to quickly identify whether there is an obstacle between the electronic device and the target device.
附图说明Description of drawings
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.
图1A是本申请实施例提供的一种电子设备的结构示意图；FIG. 1A is a schematic structural diagram of an electronic device provided by an embodiment of the present application;
图1B是本申请实施例提供的一种UWB系统的架构示意图；FIG. 1B is a schematic structural diagram of a UWB system provided by an embodiment of the present application;
图1C是本申请实施例提供的一种障碍物检测方法的流程示意图；FIG. 1C is a schematic flow chart of an obstacle detection method provided in an embodiment of the present application;
图1D是本申请实施例提供的一种电子设备与目标装置之间的UWB传输信道的演示示意图；FIG. 1D is a schematic diagram illustrating a UWB transmission channel between an electronic device and a target device according to an embodiment of the present application;
图1E是本申请实施例提供的另一种电子设备与目标装置之间的UWB传输信道的演示示意图；FIG. 1E is a schematic diagram illustrating a UWB transmission channel between another electronic device and a target device according to an embodiment of the present application;
图1F是本申请实施例提供的一种双向测距TWR的基本过程的演示示意图；FIG. 1F is a schematic diagram illustrating the basic process of a two-way ranging TWR provided by an embodiment of the present application;
图2是是本申请实施例提供的另一种障碍物检测方法的流程示意图；Fig. 2 is a schematic flow chart of another obstacle detection method provided by the embodiment of the present application;
图3是本申请实施例提供的另一种障碍物检测方法的流程示意图；Fig. 3 is a schematic flow chart of another obstacle detection method provided by the embodiment of the present application;
图4是本申请实施例提供的一种电子设备的结构示意图；FIG. 4 is a schematic structural diagram of an electronic device provided in an embodiment of the present application;
图5A是本申请实施例提供的一种障碍物检测装置的结构示意图；FIG. 5A is a schematic structural diagram of an obstacle detection device provided in an embodiment of the present application;
图5B是为图5A所描述的障碍物检测装置的变型装置的结构示意图。FIG. 5B is a schematic structural diagram of a modification of the obstacle detection device described in FIG. 5A .
具体实施方式Detailed ways
为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is a part of the embodiments of this application, not all of them. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别不同对象，而不是用于描述特定顺序。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其他步骤或单元。The terms "first", "second" and the like in the specification and claims of the present application and the above drawings are used to distinguish different objects, rather than to describe a specific order. Furthermore, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally further includes For other steps or units inherent in these processes, methods, products or devices.
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor a separate or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.
下面对本申请实施例进行详细介绍。The following describes the embodiments of the present application in detail.
请参阅图1A，图1A是本申请实施例公开的一种电子设备的结构示意图，电子设备100包括存储和处理电路110，以及与所述存储和处理电路110连接的传感器170，其中：Please refer to FIG. 1A. FIG. 1A is a schematic structural diagram of an electronic device disclosed in an embodiment of the present application. The
电子设备100可以包括控制电路，该控制电路可以包括存储和处理电路110。该存储和处理电路110可以包括存储器，例如硬盘驱动存储器，非易失性存储器(例如闪存或用于形成固态驱动器的其它电子可编程只读存储器等)，易失性存储器(例如静态或动态随机存取存储器等)等，本申请实施例不作限制。存储和处理电路110中的处理电路可以用于控制电子设备100的运转。该处理电路可以基于一个或多个微处理器，微控制器，数字信号处理器，基带处理器，功率管理单元，音频编解码器芯片，专用集成电路，显示驱动器集成电路等来实现。
存储和处理电路110可用于运行电子设备100中的软件，例如互联网浏览应用程序，互联网协议语音(Voice over Internet Protocol,VOIP)电话呼叫应用程序，电子邮件应用程序，媒体播放应用程序，操作系统功能等。这些软件可以用于执行一些控制操作，例如，基于照相机的图像采集，基于环境光传感器的环境光测量，基于接近传感器的接近传感器测量，基于诸如发光二极管的状态指示灯等状态指示器实现的信息显示功能，基于触摸传感器的触摸事件检测，与在多个(例如分层的)显示屏上显示信息相关联的功能，与执行无线通信功能相关联的操作，与收集和产生音频信号相关联的操作，与收集和处理按钮按压事件数据相关联的控制操作，以及电子设备100中的其它功能等，本申请实施例不作限制。The storage and
电子设备100可以包括输入-输出电路150。输入-输出电路150可用于使电子设备100实现数据的输入和输出，即允许电子设备100从外部设备接收数据和也允许电子设备100将数据从电子设备100输出至外部设备。输入-输出电路150可以进一步包括传感器170。传感器170可以包括超声波指纹识别模组，还可以包括环境光传感器，基于光和电容的接近传感器，触摸传感器(例如，基于光触摸传感器和/或电容式触摸传感器，其中，触摸传感器可以是触控显示屏的一部分，也可以作为一个触摸传感器结构独立使用)，加速度传感器，和其它传感器等，超声波指纹识别模组可以集成于屏幕下方，或者，超声波指纹识别模组可以设置于电子设备的侧面或者背面，在此不作限定，该超声波指纹识别模组可以用于采集指纹图像。The
传感器170可以包括第一摄像头和第二摄像头，第一摄像头可以为前置摄像头或者后置摄像头，第二摄像头可以为前置摄像头或者后置摄像头，第二摄像头可以为红外(Infrared Radiation，IR)摄像头或者可见光摄像头，IR摄像头在拍摄时，瞳孔反射红外光，因此IR摄像头在拍摄瞳孔图像会比RGB相机更加准确；可见光摄像头需要进行更多的后续瞳孔检测，计算精度和准确性比IR摄像头要高，通用性比IR摄像头更好，但是计算量大。The
输入-输出电路150还可以包括一个或多个显示屏，例如显示屏130。显示屏130可以包括液晶显示屏，有机发光二极管显示屏，电子墨水显示屏，等离子显示屏，使用其它显示技术的显示屏中一种或者几种的组合。显示屏130可以包括触摸传感器阵列(即，显示屏130可以是触控显示屏)。触摸传感器可以是由透明的触摸传感器电极(例如氧化铟锡(ITO)电极)阵列形成的电容式触摸传感器，或者可以是使用其它触摸技术形成的触摸传感器，例如音波触控，压敏触摸，电阻触摸，光学触摸等，本申请实施例不作限制。Input-
电子设备100还可以包括音频组件140。音频组件140可以用于为电子设备100提供音频输入和输出功能。电子设备100中的音频组件140可以包括扬声器，麦克风，蜂鸣器，音调发生器以及其它用于产生和检测声音的组件。The
电子设备100还可以包括第一UWB芯片180，UWB芯片利用UWB技术实现测距或者定位，UWB技术是一种无线载波通信技术，它不采用正弦载波，而是利用纳秒级的非正弦波窄脉冲传输数据，因此其所占的频谱范围很宽。UWB技术具有系统复杂度低，发射信号功率谱密度低，对信道衰落不敏感，截获能力低，定位精度高等优点，尤其适用于室内等密集多径场所的高速无线接入。The
通信电路120可以用于为电子设备100提供与外部设备通信的能力。通信电路120可以包括模拟和数字输入-输出接口电路，和基于射频信号和/或光信号的无线通信电路。通信电路120中的无线通信电路可以包括射频收发器电路、功率放大器电路、低噪声放大器、开关、滤波器和天线。举例来说，通信电路120中的无线通信电路可以包括用于通过发射和接收近场耦合电磁信号来支持近场通信(Near Field Communication，NFC)的电路。例如，通信电路120可以包括近场通信天线和近场通信收发器。通信电路120还可以包括蜂窝电话收发器和天线，无线局域网收发器电路和天线等。The
电子设备100还可以进一步包括电池，电力管理电路和其它输入-输出单元160。输入-输出单元160可以包括按钮，操纵杆，点击轮，滚动轮，触摸板，小键盘，键盘，照相机，发光二极管和其它状态指示器等。The
用户可以通过输入-输出电路150输入命令来控制电子设备100的操作，并且可以使用输入-输出电路150的输出数据以实现接收来自电子设备100的状态信息和其它输出。A user can input commands through the input-
请参阅图1B，图1B是本申请实施例公开的一种实现障碍物检测方法的UWB系统的系统架构图，其中，UWB系统中包括电子设备和目标装置，电子设备包括第一UWB芯片，目标装置包括第二UWB芯片，电子设备可通过第一UWB芯片与目标装置的第二UWB芯片之间进行无线通信连接。具体实施中，可以采用双向测距(two way ranging，TWR)技术检测电子设备与目标装置之间的距离，或者实现对目标装置的定位。Please refer to FIG. 1B. FIG. 1B is a system architecture diagram of a UWB system implementing an obstacle detection method disclosed in an embodiment of the present application, wherein the UWB system includes electronic equipment and a target device, the electronic equipment includes a first UWB chip, and the target The device includes a second UWB chip, and the electronic equipment can communicate with the second UWB chip of the target device through the first UWB chip. In a specific implementation, a two-way ranging (TWR) technology may be used to detect the distance between the electronic device and the target device, or to realize the positioning of the target device.
本申请实施例所涉及到的电子设备可以包括各种具有无线通信功能的手持设备、车载设备、计算设备或连接到无线调制解调器的其他处理设备，以及各种形式的用户设备(user equipment，UE)，移动台(mobile station，MS)，终端设备(terminal device)等等。为方便描述，上面提到的设备统称为电子设备。The electronic devices involved in the embodiments of the present application may include various handheld devices with wireless communication functions, vehicle-mounted devices, computing devices or other processing devices connected to wireless modems, as well as various forms of user equipment (UE) , mobile station (mobile station, MS), terminal equipment (terminal device) and so on. For convenience of description, the devices mentioned above are collectively referred to as electronic devices.
本申请实施例所涉及到的目标装置可以包括各种具有无线通信功能的手持设备、车载设备、计算设备或连接到无线调制解调器的其他处理装置等等。The target devices involved in the embodiments of the present application may include various handheld devices with wireless communication functions, vehicle-mounted devices, computing devices, or other processing devices connected to wireless modems, and the like.
请参阅图1C，图1C是本申请实施例提供的一种障碍物检测方法的流程示意图，应用于如图1A所示电子设备和如图1B所示的UWB系统，所述电子设备包括第一UWB芯片，所述电子设备与目标装置通信连接，如图1C所示，本申请提供的障碍物检测方法包括：Please refer to FIG. 1C. FIG. 1C is a schematic flowchart of an obstacle detection method provided by an embodiment of the present application, which is applied to the electronic device shown in FIG. 1A and the UWB system shown in FIG. 1B. The electronic device includes a first UWB chip, the electronic device is connected to the target device in communication, as shown in Figure 1C, the obstacle detection method provided by the present application includes:
101、通过所述第一UWB芯片以第一发射功率向所述目标装置发送第一双向测距TWR请求数据包。101. Send a first two-way ranging TWR request data packet to the target device by using the first UWB chip with a first transmit power.
本申请实施例中，电子设备可通过第一UWB芯片以第一发射功率向目标装置发送第一双向测距TWR请求数据包，第一发射功率可以为预先设定的发射功率，也可以是由电子设备根据预估的待测距离范围确定的发射功率，具体地，电子设备在需要对目标装置进行定位或者检测电子设备与目标装置之间的距离的场景下，可以预先估计电子设备与目标装置之间的距离所处的待测距离范围，进而根据该待测距离范围确定第一发射功率，以确保第一UWB芯片以第一发射功率发射信号时，目标装置能够接收到，其中，上述第一发射功率可在电子设备与目标装置之间无遮挡时，保证以第一发射功率发射信号能够被目标装置的第二UWB芯片接收到，若目标装置接收到第一TWR请求数据包，则目标装置可向电子设备发送第一TWR响应数据包，若目标装置未接收到第一TWR请求数据包，则目标装置不作响应。In this embodiment of the application, the electronic device can send the first two-way ranging TWR request data packet to the target device through the first UWB chip with the first transmission power. The first transmission power can be a preset transmission power, or can be determined by The transmission power determined by the electronic device according to the estimated distance range to be measured. Specifically, the electronic device can pre-estimate the distance between the electronic device and the target device in a scenario where the target device needs to be positioned or the distance between the electronic device and the target device needs to be detected. The distance between them is within the range of the distance to be measured, and then the first transmission power is determined according to the range of the distance to be measured, so as to ensure that when the first UWB chip transmits a signal with the first transmission power, the target device can receive it, wherein the above-mentioned first A transmit power can ensure that the signal transmitted with the first transmit power can be received by the second UWB chip of the target device when there is no occlusion between the electronic device and the target device. If the target device receives the first TWR request packet, the target The device may send a first TWR response packet to the electronic device, and if the target device does not receive the first TWR request packet, the target device does not respond.
102、若预设时间间隔内未接收到来自于所述目标装置的第一TWR响应数据包，在第一预设时间段内通过所述第一UWB芯片以第二发射功率向所述目标装置发送第二TWR请求数据包，其中，所述第二发射功率大于所述第一发射功率。102. If the first TWR response data packet from the target device is not received within a preset time interval, use the first UWB chip to transmit to the target device at a second transmission power within a first preset time period sending a second TWR request data packet, wherein the second transmit power is greater than the first transmit power.
其中，预设时间间隔是指从电子设备发出第一TWR请求数据包之后起算的时间间隔。Wherein, the preset time interval refers to the time interval counted after the electronic device sends the first TWR request data packet.
其中，设置第一预设时间段的目的是保证两次发送TWR请求数据包的时间间隔较短，从而保证电子设备和目标装置之间的信道环境没有发生明显的变化。Wherein, the purpose of setting the first preset time period is to ensure that the time interval between sending the TWR request data packet twice is relatively short, so as to ensure that the channel environment between the electronic device and the target device does not change significantly.
若预设时间间隔内，电子设备未接收到来自于目标装置的第一TWR响应数据包，表明电子设备发送的第一TWR请求数据包未成功到达目标装置，从而，电子设备可通过第一UWB芯片以第二发射功率向目标装置发送第二TWR请求数据包，第二发射功率大于第一发射功率，以保证即便电子设备与目标装置之间存在障碍物，也可以使第一UWB芯片发射的信号被目标装置接收到，若目标装置接收到第二TWR请求数据包，则目标装置可向电子设备发送第二TWR响应数据包。If the electronic device does not receive the first TWR response data packet from the target device within the preset time interval, it indicates that the first TWR request data packet sent by the electronic device has not successfully reached the target device, so that the electronic device can pass the first UWB The chip sends a second TWR request packet to the target device with the second transmit power, the second transmit power is greater than the first transmit power, so as to ensure that even if there is an obstacle between the electronic device and the target device, the first UWB chip can transmit The signal is received by the target device, and if the target device receives the second TWR request packet, the target device may send a second TWR response packet to the electronic device.
在具体实施过程中，当电子设备与目标装置之间存在大型障碍物时，第一UWB芯片发射的信号会因大型障碍物的遮挡发生衰减，从而导致目标装置接收不到第一UWB芯片发射的信号，请参阅图1D，图1D为本申请实施例提供的一种电子设备与目标装置之间的UWB传输信道的演示示意图，其中，当电子设备和目标装置之间以及周围没有任何障碍物时，两者进行UWB通信的路径仅为图1D中的路径1，路径1为电子设备与目标装置之间的直线路径，又称为直接路径。此时电子设备与目标装置之间的UWB传输信道为视距(line-of-sight，LOS)信道(channel)。In the specific implementation process, when there is a large obstacle between the electronic device and the target device, the signal emitted by the first UWB chip will be attenuated due to the blockage of the large obstacle, so that the target device cannot receive the signal emitted by the first UWB chip. For the signal, please refer to FIG. 1D. FIG. 1D is a schematic diagram illustrating a UWB transmission channel between an electronic device and a target device according to an embodiment of the present application, wherein, when there are no obstacles between and around the electronic device and the target device , the path for UWB communication between the two is only path 1 in FIG. 1D , and path 1 is a straight path between the electronic device and the target device, also called a direct path. At this time, the UWB transmission channel between the electronic device and the target device is a line-of-sight (LOS) channel.
请参阅图1E，图1E为本申请实施例提供的另一种电子设备与目标装置之间的UWB传输信道的演示示意图，其中，电子设备与目标装置之间存在较大的障碍物(例如墙体，木板，玻璃等)遮挡，电子设备与目标装置之间的UWB通信路径会存在多条路径，例如图1E中的路径2、3和4等。其中路径2为直接路径，路径3和4为反射路径。由于障碍物的存在，电子设备与目标装置之间的UWB传输信道为非视距信道(non line-of-sight，NLOS)信道(channel)，其中，而路径1为视距信道，直接路径2为非视距信道，第一UWB芯片发射的信号通过直接路径2传输，经过障碍物时，会发生信号衰减。由于电磁波穿过障碍物会有衰减，在某些场景下(比如电子设备与目标装置之间距离较远，或者电子设备与目标装置之间的障碍物很厚，或者电子设备与目标装置之间的障碍物的材质对电磁波衰减很强等等)，目标装置接收不到从电子设备发送的直接路径的电磁波能量，只接收到反射路径的电磁波能量。Please refer to FIG. 1E. FIG. 1E is a schematic diagram illustrating another UWB transmission channel between an electronic device and a target device according to an embodiment of the present application, wherein there is a relatively large obstacle (such as a wall) between the electronic device and the target device. body, wood, glass, etc.), there will be multiple paths in the UWB communication path between the electronic device and the target device, such as paths 2, 3, and 4 in FIG. 1E . Among them, path 2 is a direct path, and paths 3 and 4 are reflection paths. Due to the existence of obstacles, the UWB transmission channel between the electronic device and the target device is a non-line-of-sight (NLOS) channel (channel), wherein the path 1 is a line-of-sight channel, and the direct path 2 It is a non-line-of-sight channel, and the signal transmitted by the first UWB chip is transmitted through the direct path 2, and the signal attenuation will occur when passing through obstacles. Due to the attenuation of electromagnetic waves passing through obstacles, in some scenarios (such as the distance between the electronic device and the target device is long, or the obstacle between the electronic device and the target device is very thick, or the distance between the electronic device and the target device The material of the obstacle has a strong attenuation of electromagnetic waves, etc.), the target device cannot receive the electromagnetic wave energy of the direct path sent from the electronic device, and only receives the electromagnetic wave energy of the reflected path.
103、若接收到来自于所述目标装置的第二TWR响应数据包，根据所述第二TWR响应数据包确定第一距离值，所述第二TWR响应数据包是所述目标装置以不小于所述第二发射功率的发射功率向所述电子设备发送的响应数据包。103. If a second TWR response data packet from the target device is received, determine a first distance value according to the second TWR response data packet, and the second TWR response data packet is the target device at a distance not less than A response data packet sent by the transmit power of the second transmit power to the electronic device.
其中，第二TWR响应数据包可包括目标装置记录的第一时间戳和第二时间戳，第一时间戳为目标装置接收所述第二TWR请求数据包的第一时间戳，第二时间戳为目标装置发送所述第二TWR响应数据包的第二时间戳。Wherein, the second TWR response packet may include a first timestamp and a second timestamp recorded by the target device, the first timestamp is the first timestamp when the target device receives the second TWR request packet, and the second timestamp is A second timestamp for sending the second TWR response packet for the target device.
若电子设备接收到来自于目标装置的第二TWR响应数据包，则电子设备可根据第二TWR响应数据包确定第一距离值，第一距离值为根据TWR技术测量得到的距离测量值。If the electronic device receives the second TWR response data packet from the target device, the electronic device may determine a first distance value according to the second TWR response data packet, and the first distance value is a distance measurement value measured according to the TWR technology.
可选地，所述第二TWR响应数据包包括所述目标装置记录的第一时间戳和第二时间戳，所述第一时间戳为所述目标装置接收所述第二TWR请求数据包的第一时间戳，所述第二时间戳为所述目标装置发送所述第二TWR响应数据包的第二时间戳，上述步骤103中，根据所述第二TWR响应数据包确定第一距离值，可包括以下步骤：Optionally, the second TWR response data packet includes a first time stamp and a second time stamp recorded by the target device, and the first time stamp is the time when the target device receives the second TWR request data packet The first time stamp, the second time stamp is the second time stamp of the second TWR response data packet sent by the target device, and in the
记录发送所述第二TWR请求数据包的第三时间戳；Recording the third timestamp of sending the second TWR request packet;
记录接收所述第二TWR响应数据包的第四时间戳；Recording the fourth timestamp of receiving the second TWR response packet;
根据所述第一时间戳、所述第二时间戳、所述第三时间戳、所述第四时间戳确定传输时间；determining a transmission time according to the first timestamp, the second timestamp, the third timestamp, and the fourth timestamp;
根据所述传输时间和传输速度确定所述第一距离值。The first distance value is determined according to the transmission time and transmission speed.
请参阅图1F，图1F为本申请实施例提供的一种双向测距TWR的基本过程的演示示意图，其中，电子设备向目标装置发送第二TWR请求数据包，并记录第三时间戳T3；目标装置接收到第二TWR请求数据包，并记录第一时间戳T1；目标装置向电子设备发送第二TWR响应数据包，并记录第二时间戳T2；电子设备接收目标装置发送的第二TWR响应数据包，并记录第四时间戳T4，进而，根据以下公式确定传输时间：Please refer to FIG. 1F. FIG. 1F is a schematic diagram illustrating a basic process of two-way ranging TWR provided by an embodiment of the present application, wherein the electronic device sends a second TWR request packet to the target device and records a third time stamp T3; The target device receives the second TWR request packet, and records the first timestamp T1; the target device sends a second TWR response packet to the electronic device, and records the second timestamp T2; the electronic device receives the second TWR sent by the target device Respond to the data packet, and record the fourth timestamp T4, and then determine the transmission time according to the following formula:
T＝((T4-T3)-(T2-T1))/2T=((T4-T3)-(T2-T1))/2
最后，根据如下公式确定第一距离值：Finally, the first distance value is determined according to the following formula:
D＝T*v；D=T*v;
其中，v为传输速度。Among them, v is the transmission speed.
104、若所述第一距离值小于预设距离阈值，确定所述电子设备与所述目标装置之间存在障碍物。104. If the first distance value is less than a preset distance threshold, determine that there is an obstacle between the electronic device and the target device.
其中，预设距离阈值是预先设定的电子设备与目标装置在无任何障碍物情况下可测量的最大距离值，本申请实施例中，设置预设距离阈值，并判断第一距离值是否小于预设距离阈值的目的，是为了防止以下误判场景：当电子设备与目标装置之间没有障碍物，但距离较远时，可能存在电子设备没有接收到第一TWR响应数据包，但接收到了第二TWR响应数据包的情况。为了更加准确地确定电子设备是由于存在障碍物而导致没有接收到第一TWR响应数据包，而不是因为电子设备与目标装置之间距离较远导致电子设备没有接收到第一TWR响应数据包，电子设备可判断第一距离值是否小于预设距离阈值，若第一距离值小于预设距离阈值，电子设备可确定电子设备与目标装置之间存在障碍物。如此，通过依次以两次不同的发射功率分别发送两次TWR请求数据包，进而根据检测的第一距离值和预设距离阈值判断是否存在障碍物。Wherein, the preset distance threshold is a preset maximum distance value that can be measured between the electronic device and the target device without any obstacle. In the embodiment of the present application, the preset distance threshold is set and it is judged whether the first distance value is less than The purpose of the preset distance threshold is to prevent the following misjudgment scenarios: when there is no obstacle between the electronic device and the target device, but the distance is far, there may be an electronic device that does not receive the first TWR response packet, but receives The second TWR responds to the case of the packet. In order to more accurately determine that the electronic device did not receive the first TWR response data packet due to the presence of obstacles, rather than the fact that the electronic device did not receive the first TWR response data packet because the distance between the electronic device and the target device was relatively long, The electronic device may determine whether the first distance value is smaller than a preset distance threshold, and if the first distance value is smaller than the preset distance threshold, the electronic device may determine that there is an obstacle between the electronic device and the target device. In this way, by sequentially sending two TWR request data packets with two different transmission powers respectively, it is judged whether there is an obstacle according to the detected first distance value and the preset distance threshold.
可选地，若电子设备没有收到目标装置回复的第二TWR响应数据包，则在第一预设时间段内以第三发射功率向目标装置发送第三TWR请求数据包。以此类推，Optionally, if the electronic device does not receive the second TWR response data packet replied by the target device, it sends a third TWR request data packet to the target device with a third transmit power within a first preset time period. and so on,
其中，第n发射功率>...第三发射功率>第二发射功率>第一发射功率Among them, the nth transmit power>...the third transmit power>the second transmit power>the first transmit power
目标装置收到第nTWR请求数据包后，以不小于第n发射功率的发射功率发送第nTWR响应数据包；若电子设备收到目标装置的第nTWR响应数据包，并计算出对应的距离测量值；电子设备比较距离测量值与对应的预设距离阈值。如果距离测量值小于对应的预设距离阈值，确定所述电子设备与所述目标装置之间存在障碍物。After the target device receives the nth TWR request data packet, it sends the nth TWR response data packet with a transmission power not less than the nth transmission power; if the electronic device receives the nth TWR response data packet of the target device, and calculates the corresponding distance measurement value ; The electronic device compares the distance measurement value with the corresponding preset distance threshold. If the distance measurement value is smaller than the corresponding preset distance threshold, it is determined that there is an obstacle between the electronic device and the target device.
可选地，所述方法还包括：Optionally, the method also includes:
根据预设的发射功率与距离阈值之间的映射关系列表，确定与所述第二发射功率对应的所述预设距离阈值。The preset distance threshold corresponding to the second transmit power is determined according to a preset mapping relationship list between transmit power and distance threshold.
其中，电子设备可预先设定发射功率与距离阈值之间的映射关系列表，映射关系列表中包括多个发射功率，以及与多个发射功率一一对应的多个距离阈值，从而，可根据该映射关系列表确定与第二发射功率对应的预设距离阈值，其中，发射功率越大，对应的预设距离阈值越大。如下表所示，为本申请实施例提供的一种发射功率与距离阈值之间的映射关系列表的示例。Wherein, the electronic device may preset a mapping relationship list between transmission power and distance threshold, and the mapping relationship list includes multiple transmission powers and multiple distance thresholds corresponding to multiple transmission powers one-to-one. The mapping relationship list determines a preset distance threshold corresponding to the second transmit power, wherein the greater the transmit power, the greater the corresponding preset distance threshold. As shown in the following table, it is an example of a list of mapping relationships between transmit power and distance thresholds provided in this embodiment of the present application.
可选地，所述方法还包括：Optionally, the method also includes:
预先在无障碍物遮挡情况下获取多个发射功率中每一发射功率对应的距离测量范围，得到多个距离测量范围；Acquire the distance measurement range corresponding to each of the multiple transmission powers in advance under the condition of no obstruction, and obtain multiple distance measurement ranges;
将所述多个距离测量范围中每一距离测量范围中的距离上限值作为对应发射功率的距离阈值，得到多个距离阈值，并根据所述多个发射功率与所述多个距离阈值建立所述发射功率与距离阈值之间的映射关系列表。Using the distance upper limit value in each distance measurement range in the plurality of distance measurement ranges as the distance threshold corresponding to the transmission power to obtain multiple distance thresholds, and establish A list of mapping relationships between the transmit power and distance thresholds.
本申请实施例中，可预先在无障碍物遮挡情况下获取多个发射功率中每一发射功率对应的距离测量范围，得到多个距离测量范围，然后将多个距离测量范围中每一距离测量范围中的距离上限值作为对应发射功率的距离阈值，得到多个距离阈值，最后根据多个发射功率与多个距离阈值建立发射功率与距离阈值之间的映射关系列表，其中，针对每一发射功率，该发射功率对应的距离阈值为在无障碍物遮挡情况下距离测量范围的最大值，如此，可在实际测量第一距离值后，若第一距离值小于预设距离阈值，准确地确定电子设备与目标装置之间存在障碍物，防止出现误判的情况。In the embodiment of the present application, the distance measurement range corresponding to each transmission power in the multiple transmission powers can be obtained in advance under the condition of no obstruction, and multiple distance measurement ranges can be obtained, and then each distance measurement range in the multiple distance measurement ranges can be measured The distance upper limit value in the range is used as the distance threshold corresponding to the transmission power to obtain a plurality of distance thresholds, and finally a mapping relationship list between the transmission power and the distance threshold is established according to the multiple transmission powers and the multiple distance thresholds, wherein, for each The transmission power, the distance threshold corresponding to the transmission power is the maximum value of the distance measurement range under the condition of no obstruction, so that after the actual measurement of the first distance value, if the first distance value is less than the preset distance threshold value, accurately Determine that there is an obstacle between the electronic device and the target device to prevent misjudgment.
可选地，在所述步骤104之前，所述方法还包括：Optionally, before the
根据预设的距离值与容差值之间的映射关系确定与所述第一距离值最接近的目标距离值对应的目标容差值；determining a target tolerance value corresponding to a target distance value closest to the first distance value according to a preset mapping relationship between a distance value and a tolerance value;
根据所述第一距离值和所述目标容差值确定目标距离范围；determining a target distance range according to the first distance value and the target tolerance value;
若所述目标距离值属于所述目标距离范围，确定所述第一距离值是否小于所述预设距离阈值。If the target distance value belongs to the target distance range, determine whether the first distance value is smaller than the preset distance threshold.
本申请实施例中，考虑到第一距离值的测量结果可能存在误差，因此，可预先进行多次实验测量，具体地，可预先实验测量多个距离值，针对每一距离值可进行多次实验测量，并统计针对每一距离值进行测量的误差值，进而确定多个距离值中每一距离值对应的容差值，得到多个容差值，并根据多个距离值和多个容差值设置距离值与容差值之间的映射关系。In the embodiment of the present application, considering that there may be errors in the measurement results of the first distance value, multiple experimental measurements can be performed in advance, specifically, multiple distance values can be experimentally measured in advance, and multiple times can be performed for each distance value Experimental measurement, and count the error value measured for each distance value, and then determine the tolerance value corresponding to each distance value in multiple distance values, obtain multiple tolerance values, and based on multiple distance values and multiple tolerances The difference sets the mapping relationship between the distance value and the tolerance value.
进一步地，电子设备可根据预设的距离值与容差值之间的映射关系确定与第一距离值最接近的目标距离值对应的目标容差值，然后，根据第一距离值和目标容差值确定目标距离范围，若目标距离值属于目标距离范围，可确定第一距离值为处于误差范围内的距离值，进而，可确定第一距离值是否小于预设距离阈值。Further, the electronic device may determine the target tolerance value corresponding to the target distance value closest to the first distance value according to the preset mapping relationship between the distance value and the tolerance value, and then, according to the first distance value and the target tolerance value, The difference determines the target distance range. If the target distance value belongs to the target distance range, it can be determined that the first distance value is a distance value within the error range, and then it can be determined whether the first distance value is smaller than a preset distance threshold.
可选地，在所述步骤104之后，所述方法还包括：Optionally, after
确定预设的发射功率与距离阈值之间的映射关系列表中的目标距离阈值，所述目标距离阈值与所述第一距离值之间的差值小于所述映射关系列表中其他大于所述第一距离值的距离阈值与所述第一距离值之间的差值；Determining a target distance threshold in a preset mapping relationship list between transmit power and distance thresholds, where the difference between the target distance threshold and the first distance value is smaller than other distance values in the mapping relationship list that are greater than the first distance value a difference between a distance threshold of a distance value and said first distance value;
确定所述映射关系列表中与所述目标距离阈值对应的目标发送功率；determining a target transmit power corresponding to the target distance threshold in the mapping relationship list;
确定所述第二发射功率与所述目标发送功率之间的差值绝对值；determining an absolute value of a difference between the second transmit power and the target transmit power;
根据所述差值绝对值确定所述障碍物对所述第一UWB芯片发射信号的衰减度。Determine the attenuation degree of the obstacle to the signal transmitted by the first UWB chip according to the absolute value of the difference.
本申请实施例中，在确定电子设备与目标装置之间存在障碍物之后，还可进一步确定该障碍物导致第一UWB芯片的发射信号衰减的衰减度。In the embodiment of the present application, after it is determined that there is an obstacle between the electronic device and the target device, an attenuation degree of attenuation of the transmission signal of the first UWB chip caused by the obstacle may be further determined.
电子设备可预先设置发射功率与距离阈值之间的映射关系列表，进而，可确定映射关系列表中大于第一距离值的多个距离阈值，然后确定该多个距离阈值中的最小距离阈值，该最小距离阈值与第一距离值之间的差值小于其他距离阈值与第一距离值之间的差值，可将该最小距离阈值作为目标距离阈值，确定映射关系列表中与目标距离阈值对应的目标发送功率；确定第二发射功率与目标发送功率之间的差值绝对值，最后，根据差值绝对值确定障碍物对第一UWB芯片发射信号的衰减度，其中，第二发射功率与目标发送功率之间的差值绝对值越大，表明障碍物对第一UWB芯片发射信号的衰减度越强。The electronic device may preset a list of mapping relationships between transmit power and distance thresholds, and then may determine multiple distance thresholds in the mapping relationship list that are greater than the first distance value, and then determine the minimum distance threshold among the multiple distance thresholds, the The difference between the minimum distance threshold and the first distance value is smaller than the difference between other distance thresholds and the first distance value, the minimum distance threshold can be used as the target distance threshold, and the corresponding target distance threshold in the mapping relationship list is determined. Target transmission power; determine the absolute value of the difference between the second transmission power and the target transmission power, and finally, determine the attenuation degree of the obstacle to the first UWB chip transmission signal according to the absolute value of the difference, wherein the second transmission power and the target The larger the absolute value of the difference between the sending powers, the stronger the attenuation degree of the obstacle on the signal sent by the first UWB chip.
可以看出，本申请实施例中通过第一UWB芯片以第一发射功率向目标装置发送第一双向测距TWR请求数据包；若预设时间间隔内未接收到来自于目标装置的第一TWR响应数据包，在第一预设时间段内以第二发射功率向目标装置发送第二TWR请求数据包，其中，第二发射功率大于第一发射功率；若接收到来自于目标装置的第二TWR响应数据包，根据第二TWR响应数据包确定第一距离值，第二TWR响应数据包是目标装置以不小于第二发射功率的发射功率向电子设备发送的响应数据包；若第一距离值小于预设距离阈值，确定电子设备与目标装置之间存在障碍物，如此，能够在使用UWB技术进行测距或定位时，快速地识别电子设备与目标装置之间是否存障碍物。It can be seen that in the embodiment of the present application, the first UWB chip sends the first two-way ranging TWR request packet to the target device with the first transmission power; if the first TWR request packet from the target device is not received within the preset time interval Responding to the data packet, sending a second TWR request data packet to the target device with a second transmission power within the first preset time period, wherein the second transmission power is greater than the first transmission power; if receiving the second TWR request from the target device The TWR response data packet determines the first distance value according to the second TWR response data packet, and the second TWR response data packet is a response data packet sent by the target device to the electronic device with a transmission power not less than the second transmission power; if the first distance If the value is less than the preset distance threshold, it is determined that there is an obstacle between the electronic device and the target device. In this way, when UWB technology is used for distance measurement or positioning, it is possible to quickly identify whether there is an obstacle between the electronic device and the target device.
请参阅图2，图2为本申请实施例提供的一种障碍物检测方法的流程示意图，应用于如图1A所示的电子设备，所述电子设备包括第一UWB芯片，所述电子设备与目标装置通信连接，所述方法包括：Please refer to FIG. 2. FIG. 2 is a schematic flow diagram of an obstacle detection method provided by an embodiment of the present application, which is applied to the electronic device shown in FIG. 1A, the electronic device includes a first UWB chip, and the electronic device is connected with A target device is communicatively connected, the method comprising:
201、通过所述第一UWB芯片以第一发射功率向所述目标装置发送第一双向测距TWR请求数据包。201. Send a first two-way ranging TWR request data packet to the target device by using the first UWB chip with a first transmit power.
202、若预设时间间隔内未接收到来自于所述目标装置的第一TWR响应数据包，在第一预设时间段内通过所述第一UWB芯片以第二发射功率向所述目标装置发送第二TWR请求数据包，其中，所述第二发射功率大于所述第一发射功率。202. If the first TWR response data packet from the target device is not received within a preset time interval, use the first UWB chip to transmit to the target device with the second transmission power within a first preset time period sending a second TWR request data packet, wherein the second transmit power is greater than the first transmit power.
203、若接收到来自于所述目标装置的第二TWR响应数据包，根据所述第二TWR响应数据包确定第一距离值，所述第二TWR响应数据包是所述目标装置以不小于所述第二发射功率的发射功率向所述电子设备发送的响应数据包。203. If a second TWR response data packet from the target device is received, determine a first distance value according to the second TWR response data packet, and the second TWR response data packet is the distance between the target device and the A response data packet sent by the transmit power of the second transmit power to the electronic device.
204、根据预设的发射功率与距离阈值之间的映射关系列表，确定与所述第二发射功率对应的预设距离阈值。204. Determine a preset distance threshold corresponding to the second transmit power according to a preset mapping relationship list between transmit power and a distance threshold.
205、若所述第一距离值小于所述预设距离阈值，确定所述电子设备与所述目标装置之间存在障碍物。205. If the first distance value is less than the preset distance threshold, determine that there is an obstacle between the electronic device and the target device.
其中，上述步骤201-205的具体实现过程可参照步骤101-步骤104中相应的描述，在此不再赘述。Wherein, for the specific implementation process of the above steps 201-205, reference may be made to the corresponding descriptions in steps 101-104, which will not be repeated here.
可以看出，本申请实施例中通过第一UWB芯片以第一发射功率向目标装置发送第一双向测距TWR请求数据包；若预设时间间隔内未接收到来自于目标装置的第一TWR响应数据包，在第一预设时间段内以第二发射功率向目标装置发送第二TWR请求数据包，其中，第二发射功率大于第一发射功率；若接收到来自于目标装置的第二TWR响应数据包，根据第二TWR响应数据包确定第一距离值，第二TWR响应数据包是目标装置以不小于第二发射功率的发射功率向电子设备发送的响应数据包；根据预设的发射功率与距离阈值之间的映射关系列表，确定与第二发射功率对应的预设距离阈值，若第一距离值小于预设距离阈值，确定电子设备与目标装置之间存在障碍物，如此，能够在使用UWB技术进行测距或定位时，快速地识别电子设备与目标装置之间是否存障碍物，此外，可通过根据预设的发射功率与距离阈值之间的映射关系列表确定与第二发射功率对应的所述预设距离阈值，防止对是否存在障碍物的误判。It can be seen that in the embodiment of the present application, the first UWB chip sends the first two-way ranging TWR request packet to the target device with the first transmission power; if the first TWR request packet from the target device is not received within the preset time interval Responding to the data packet, sending a second TWR request data packet to the target device with a second transmission power within the first preset time period, wherein the second transmission power is greater than the first transmission power; if receiving the second TWR request from the target device TWR response data packet, determine the first distance value according to the second TWR response data packet, the second TWR response data packet is a response data packet sent by the target device to the electronic device with a transmission power not less than the second transmission power; according to the preset A list of mapping relationships between transmit power and distance thresholds, determining a preset distance threshold corresponding to the second transmit power, if the first distance value is less than the preset distance threshold, it is determined that there is an obstacle between the electronic device and the target device, so, When using UWB technology for ranging or positioning, it can quickly identify whether there is an obstacle between the electronic device and the target device. In addition, it can be determined according to the preset mapping relationship list between the transmission power and the distance threshold. The preset distance threshold corresponding to the transmission power prevents misjudgment of whether there is an obstacle.
请参阅图3，图3为本申请实施例提供的另一种障碍物检测方法的流程示意图，应用于如图1A所示的电子设备，所述电子设备包括第一UWB芯片，所述电子设备与目标装置通信连接，所述方法包括：Please refer to FIG. 3. FIG. 3 is a schematic flow diagram of another obstacle detection method provided in the embodiment of the present application, which is applied to the electronic device shown in FIG. 1A, the electronic device includes a first UWB chip, and the electronic device communicatively coupled with a target device, the method comprising:
301、通过所述第一UWB芯片以第一发射功率向所述目标装置发送第一双向测距TWR请求数据包。301. Send a first two-way ranging TWR request data packet to the target device by using the first UWB chip with a first transmit power.
302、若预设时间间隔内未接收到来自于所述目标装置的第一TWR响应数据包，在第一预设时间段内通过所述第一UWB芯片以第二发射功率向所述目标装置发送第二TWR请求数据包，其中，所述第二发射功率大于所述第一发射功率。302. If the first TWR response data packet from the target device is not received within a preset time interval, use the first UWB chip to transmit to the target device at a second transmission power within a first preset time period sending a second TWR request data packet, wherein the second transmit power is greater than the first transmit power.
303、若接收到来自于所述目标装置的第二TWR响应数据包，根据所述第二TWR响应数据包确定第一距离值，所述第二TWR响应数据包是所述目标装置以不小于所述第二发射功率的发射功率向所述电子设备发送的响应数据包。303. If a second TWR response data packet from the target device is received, determine a first distance value according to the second TWR response data packet, and the second TWR response data packet is the distance between the target device and the A response data packet sent by the transmit power of the second transmit power to the electronic device.
304、根据预设的发射功率与距离阈值之间的映射关系列表，确定与所述第二发射功率对应的预设距离阈值。304. Determine a preset distance threshold corresponding to the second transmit power according to a preset mapping relationship list between transmit power and a distance threshold.
305、若所述第一距离值小于所述预设距离阈值，确定所述电子设备与所述目标装置之间存在障碍物。305. If the first distance value is less than the preset distance threshold, determine that there is an obstacle between the electronic device and the target device.
306、确定预设的发射功率与距离阈值之间的映射关系列表中的目标距离阈值，所述目标距离阈值与所述第一距离值之间的差值小于所述映射关系列表中其他大于所述第一距离值的距离阈值与所述第一距离值之间的差值。306. Determine a target distance threshold in the preset mapping relationship list between transmit power and distance thresholds, where the difference between the target distance threshold and the first distance value is smaller than other values in the mapping relationship list that are larger than the A difference between the distance threshold of the first distance value and the first distance value.
307、确定所述映射关系列表中与所述目标距离阈值对应的目标发送功率。307. Determine the target transmit power corresponding to the target distance threshold in the mapping relationship list.
308、确定所述第二发射功率与所述目标发送功率之间的差值绝对值。308. Determine an absolute value of a difference between the second transmit power and the target transmit power.
309、根据所述差值绝对值确定所述障碍物对所述第一UWB芯片发射信号的衰减度。309. Determine an attenuation degree of the obstacle to the signal transmitted by the first UWB chip according to the absolute value of the difference.
其中，上述步骤301-309的具体实现过程可参照步骤101-步骤104中相应的描述，在此不再赘述。Wherein, for the specific implementation process of the above-mentioned steps 301-309, reference may be made to the corresponding descriptions in steps 101-104, which will not be repeated here.
可以看出，本申请实施例中通过第一UWB芯片以第一发射功率向目标装置发送第一双向测距TWR请求数据包；若预设时间间隔内未接收到来自于目标装置的第一TWR响应数据包，在第一预设时间段内以第二发射功率向目标装置发送第二TWR请求数据包，其中，第二发射功率大于第一发射功率；若接收到来自于目标装置的第二TWR响应数据包，根据第二TWR响应数据包确定第一距离值，第二TWR响应数据包是目标装置以不小于第二发射功率的发射功率向电子设备发送的响应数据包；根据预设的发射功率与距离阈值之间的映射关系列表，确定与第二发射功率对应的预设距离阈值，若第一距离值小于预设距离阈值，确定电子设备与目标装置之间存在障碍物，确定预设的发射功率与距离阈值之间的映射关系列表中的目标距离阈值，目标距离阈值与所述第一距离值之间的差值小于映射关系列表中其他大于第一距离值的距离阈值与所述第一距离值之间的差值；确定映射关系列表中与目标距离阈值对应的目标发送功率；确定第二发射功率与目标发送功率之间的差值绝对值；根据差值绝对值确定障碍物对所述第一UWB芯片发射信号的衰减度，如此，能够在使用UWB技术进行测距或定位时，快速地识别电子设备与目标装置之间是否存障碍物，防止对是否存在障碍物的误判，还可确定该障碍物导致第一UWB芯片的发射信号衰减的衰减度。It can be seen that in the embodiment of the present application, the first UWB chip sends the first two-way ranging TWR request packet to the target device with the first transmission power; if the first TWR request packet from the target device is not received within the preset time interval Responding to the data packet, sending a second TWR request data packet to the target device with a second transmission power within the first preset time period, wherein the second transmission power is greater than the first transmission power; if receiving the second TWR request from the target device TWR response data packet, determine the first distance value according to the second TWR response data packet, the second TWR response data packet is a response data packet sent by the target device to the electronic device with a transmission power not less than the second transmission power; according to the preset The mapping relationship list between the transmit power and the distance threshold, determine the preset distance threshold corresponding to the second transmit power, if the first distance value is less than the preset distance threshold, determine that there is an obstacle between the electronic device and the target device, and determine the preset distance threshold Set the target distance threshold in the mapping relationship list between the transmit power and the distance threshold, and the difference between the target distance threshold and the first distance value is smaller than other distance thresholds greater than the first distance value in the mapping relationship list. The difference between the first distance values; determine the target transmission power corresponding to the target distance threshold in the mapping relationship list; determine the absolute value of the difference between the second transmission power and the target transmission power; determine the obstacle according to the absolute value of the difference The attenuation of the signal transmitted by the first UWB chip by the object, so that when using UWB technology for distance measurement or positioning, it is possible to quickly identify whether there is an obstacle between the electronic device and the target device, so as to prevent confusion about whether there is an obstacle. In case of misjudgment, the attenuation degree at which the obstacle causes attenuation of the transmitted signal of the first UWB chip can also be determined.
以下是实施上述障碍物检测方法的装置，具体如下：The following is the device to implement the above obstacle detection method, as follows:
与上述一致地，请参阅图4，图4是本申请实施例提供的一种电子设备的结构示意图，该电子设备包括：第一UWB芯片440、处理器410、通信接口430和存储器420；以及一个或多个程序421，所述一个或多个程序421被存储在所述存储器420中，并且被配置成由所述处理器执行，所述程序421包括用于执行以下步骤的指令：Consistent with the above, please refer to FIG. 4. FIG. 4 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. The electronic device includes: a first UWB chip 440, a processor 410, a
通过所述第一UWB芯片以第一发射功率向所述目标装置发送第一双向测距TWR请求数据包；sending a first two-way ranging TWR request packet to the target device with a first transmission power through the first UWB chip;
若预设时间间隔内未接收到来自于所述目标装置的第一TWR响应数据包，在第一预设时间段内通过所述第一UWB芯片以第二发射功率向所述目标装置发送第二TWR请求数据包，其中，所述第二发射功率大于所述第一发射功率；If the first TWR response data packet from the target device is not received within the preset time interval, send the first TWR response packet to the target device with the second transmission power through the first UWB chip within the first preset time period Two TWR request data packets, wherein the second transmit power is greater than the first transmit power;
若接收到来自于所述目标装置的第二TWR响应数据包，根据所述第二TWR响应数据包确定第一距离值，所述第二TWR响应数据包是所述目标装置以不小于所述第二发射功率的发射功率向所述电子设备发送的响应数据包；If a second TWR response data packet from the target device is received, the first distance value is determined according to the second TWR response data packet, and the second TWR response data packet is the distance of the target device not less than the a response data packet sent to the electronic device by the transmit power of the second transmit power;
若所述第一距离值小于预设距离阈值，确定所述电子设备与所述目标装置之间存在障碍物。If the first distance value is less than a preset distance threshold, it is determined that there is an obstacle between the electronic device and the target device.
在一个可能的示例中，所述程序421还包括用于执行以下步骤的指令：In a possible example, the program 421 further includes instructions for performing the following steps:
根据预设的发射功率与距离阈值之间的映射关系列表，确定与所述第二发射功率对应的所述预设距离阈值。The preset distance threshold corresponding to the second transmit power is determined according to a preset mapping relationship list between transmit power and distance threshold.
在一个可能的示例中，所述程序421还包括用于执行以下步骤的指令：In a possible example, the program 421 further includes instructions for performing the following steps:
预先在无障碍物遮挡情况下获取多个发射功率中每一发射功率对应的距离测量范围，得到多个距离测量范围；Acquire the distance measurement range corresponding to each of the multiple transmission powers in advance under the condition of no obstruction, and obtain multiple distance measurement ranges;
将所述多个距离测量范围中每一距离测量范围中的距离上限值作为对应发射功率的距离阈值，得到多个距离阈值，并根据所述多个发射功率与所述多个距离阈值建立所述发射功率与距离阈值之间的映射关系列表。Using the distance upper limit value in each distance measurement range in the plurality of distance measurement ranges as the distance threshold corresponding to the transmission power to obtain multiple distance thresholds, and establish A list of mapping relationships between the transmit power and distance thresholds.
在一个可能的示例中，所述第二TWR响应数据包包括所述目标装置记录的第一时间戳和第二时间戳，所述第一时间戳为所述目标装置接收所述第二TWR请求数据包的第一时间戳，所述第二时间戳为所述目标装置发送所述第二TWR响应数据包的第二时间戳，在所述根据所述第二TWR响应数据包确定第一距离值方面，所述程序421包括用于执行以下步骤的指令：In a possible example, the second TWR response data packet includes a first timestamp and a second timestamp recorded by the target device, and the first timestamp is when the target device receives the second TWR request The first timestamp of the data packet, the second timestamp is the second timestamp of the second TWR response packet sent by the target device, and the first distance is determined according to the second TWR response packet In terms of value, said program 421 includes instructions for performing the following steps:
记录发送所述第二TWR请求数据包的第三时间戳；Recording the third timestamp of sending the second TWR request packet;
记录接收所述第二TWR响应数据包的第四时间戳；Recording the fourth timestamp of receiving the second TWR response packet;
根据所述第一时间戳、所述第二时间戳、所述第三时间戳、所述第四时间戳确定传输时间；determining a transmission time according to the first timestamp, the second timestamp, the third timestamp, and the fourth timestamp;
根据所述传输时间和传输速度确定所述第一距离值。The first distance value is determined according to the transmission time and transmission speed.
在一个可能的示例中，所述程序421还包括用于执行以下步骤的指令：In a possible example, the program 421 further includes instructions for performing the following steps:
确定预设的发射功率与距离阈值之间的映射关系列表中的目标距离阈值，所述目标距离阈值与所述第一距离值之间的差值小于所述映射关系列表中其他大于所述第一距离值的距离阈值与所述第一距离值之间的差值；Determining a target distance threshold in a preset mapping relationship list between transmit power and distance thresholds, where the difference between the target distance threshold and the first distance value is smaller than other distance values in the mapping relationship list that are greater than the first distance value a difference between a distance threshold of a distance value and said first distance value;
确定所述映射关系列表中与所述目标距离阈值对应的目标发送功率；determining a target transmit power corresponding to the target distance threshold in the mapping relationship list;
确定所述第二发射功率与所述目标发送功率之间的差值绝对值；determining an absolute value of a difference between the second transmit power and the target transmit power;
根据所述差值绝对值确定所述障碍物对所述第一UWB芯片发射信号的衰减度。Determine the attenuation degree of the obstacle to the signal transmitted by the first UWB chip according to the absolute value of the difference.
在一个可能的示例中，所述程序421还包括用于执行以下步骤的指令：In a possible example, the program 421 further includes instructions for performing the following steps:
根据预设的距离值与容差值之间的映射关系确定与所述第一距离值最接近的目标距离值对应的目标容差值；determining a target tolerance value corresponding to a target distance value closest to the first distance value according to a preset mapping relationship between a distance value and a tolerance value;
根据所述第一距离值和所述目标容差值确定目标距离范围；determining a target distance range according to the first distance value and the target tolerance value;
若所述目标距离值属于所述目标距离范围，确定所述第一距离值是否小于所述预设距离阈值。If the target distance value belongs to the target distance range, determine whether the first distance value is smaller than the preset distance threshold.
请参阅图5A，图5A是本实施例提供的一种障碍物检测装置的结构示意图，所述障碍物检测装置500应用于如图1A所示的电子设备，所述电子设备包括第一UWB芯片，所述电子设备与目标装置通信连接，该装置500包括发送单元501、接收单元502和确定单元503，其中，Please refer to FIG. 5A. FIG. 5A is a schematic structural diagram of an obstacle detection device provided in this embodiment. The
所述发送单元501，用于通过所述第一UWB芯片以第一发射功率向所述目标装置发送第一双向测距TWR请求数据包；The sending
若预设时间间隔内所述接收单元502未接收到来自于所述目标装置的第一TWR响应数据包，所述发送单元501，还用于在第一预设时间段内通过所述第一UWB芯片以第二发射功率向所述目标装置发送第二TWR请求数据包，其中，所述第二发射功率大于所述第一发射功率；If the receiving
若所述接收单元502接收到来自于所述目标装置的第二TWR响应数据包，所述确定单元503，用于根据所述第二TWR响应数据包确定第一距离值，所述第二TWR响应数据包是所述目标装置以不小于所述第二发射功率的发射功率向所述电子设备发送的响应数据包；If the receiving
所述确定单元503，还用于若所述第一距离值小于预设距离阈值，确定所述电子设备与所述目标装置之间存在障碍物。The determining
可选地，所述确定单元503，还用于：Optionally, the determining
根据预设的发射功率与距离阈值之间的映射关系列表，确定与所述第二发射功率对应的所述预设距离阈值。The preset distance threshold corresponding to the second transmit power is determined according to a preset mapping relationship list between transmit power and distance threshold.
可选地，可选地，如图5B，图5B为图5A所描述的障碍物检测装置的变型装置，其与图5A相比较，还可以包括：获取单元504和处理单元505，具体如下：Optionally, optionally, as shown in FIG. 5B, FIG. 5B is a modified device of the obstacle detection device described in FIG. 5A. Compared with FIG. 5A, it may further include: an
所述获取单元504，用于预先在无障碍物遮挡情况下获取多个发射功率中每一发射功率对应的距离测量范围，得到多个距离测量范围；The
所述处理单元505，用于将所述多个距离测量范围中每一距离测量范围中的距离上限值作为对应发射功率的距离阈值，得到多个距离阈值，并根据所述多个发射功率与所述多个距离阈值建立所述发射功率与距离阈值之间的映射关系列表。The
可选地，所述第二TWR响应数据包包括所述目标装置记录的第一时间戳和第二时间戳，所述第一时间戳为所述目标装置接收所述第二TWR请求数据包的第一时间戳，所述第二时间戳为所述目标装置发送所述第二TWR响应数据包的第二时间戳，在所述根据所述第二TWR响应数据包确定第一距离值方面，所述确定单元503具体用于：Optionally, the second TWR response data packet includes a first time stamp and a second time stamp recorded by the target device, and the first time stamp is the time when the target device receives the second TWR request data packet The first timestamp, the second timestamp is the second timestamp of the second TWR response packet sent by the target device, and in terms of determining the first distance value according to the second TWR response packet, The determining
记录发送所述第二TWR请求数据包的第三时间戳；Recording the third timestamp of sending the second TWR request packet;
记录接收所述第二TWR响应数据包的第四时间戳；Recording the fourth timestamp of receiving the second TWR response packet;
根据所述第一时间戳、所述第二时间戳、所述第三时间戳、所述第四时间戳确定传输时间；determining a transmission time according to the first timestamp, the second timestamp, the third timestamp, and the fourth timestamp;
根据所述传输时间和传输速度确定所述第一距离值。The first distance value is determined according to the transmission time and transmission speed.
可选地，所述确定单元503，还用于：Optionally, the determining
确定预设的发射功率与距离阈值之间的映射关系列表中的目标距离阈值，所述目标距离阈值与所述第一距离值之间的差值小于所述映射关系列表中其他大于所述第一距离值的距离阈值与所述第一距离值之间的差值；Determining a target distance threshold in a preset mapping relationship list between transmit power and distance thresholds, where the difference between the target distance threshold and the first distance value is smaller than other distance values in the mapping relationship list that are greater than the first distance value a difference between a distance threshold of a distance value and said first distance value;
确定所述映射关系列表中与所述目标距离阈值对应的目标发送功率；determining a target transmit power corresponding to the target distance threshold in the mapping relationship list;
确定所述第二发射功率与所述目标发送功率之间的差值绝对值；determining an absolute value of a difference between the second transmit power and the target transmit power;
根据所述差值绝对值确定所述障碍物对所述第一UWB芯片发射信号的衰减度。Determine the attenuation degree of the obstacle to the signal transmitted by the first UWB chip according to the absolute value of the difference.
可选地，所述确定单元503，还用于：Optionally, the determining
根据预设的距离值与容差值之间的映射关系确定与所述第一距离值最接近的目标距离值对应的目标容差值；determining a target tolerance value corresponding to a target distance value closest to the first distance value according to a preset mapping relationship between a distance value and a tolerance value;
根据所述第一距离值和所述目标容差值确定目标距离范围；determining a target distance range according to the first distance value and the target tolerance value;
若所述目标距离值属于所述目标距离范围，确定所述第一距离值是否小于所述预设距离阈值。If the target distance value belongs to the target distance range, determine whether the first distance value is smaller than the preset distance threshold.
可以看出，本申请实施例中所描述的障碍物检测装置，通过第一UWB芯片以第一发射功率向目标装置发送第一双向测距TWR请求数据包；若预设时间间隔内未接收到来自于目标装置的第一TWR响应数据包，在第一预设时间段内以第二发射功率向目标装置发送第二TWR请求数据包，其中，第二发射功率大于第一发射功率；若接收到来自于目标装置的第二TWR响应数据包，根据第二TWR响应数据包确定第一距离值，第二TWR响应数据包是目标装置以不小于第二发射功率的发射功率向电子设备发送的响应数据包；若第一距离值小于预设距离阈值，确定电子设备与目标装置之间存在障碍物，如此，能够在使用UWB技术进行测距或定位时，快速地识别电子设备与目标装置之间是否存障碍物。It can be seen that the obstacle detection device described in the embodiment of the present application sends the first two-way ranging TWR request data packet to the target device through the first UWB chip with the first transmission power; From the first TWR response data packet of the target device, send the second TWR request data packet to the target device with the second transmission power within the first preset time period, wherein the second transmission power is greater than the first transmission power; if received Upon receiving the second TWR response data packet from the target device, determine the first distance value according to the second TWR response data packet, the second TWR response data packet is sent by the target device to the electronic device with a transmit power not less than the second transmit power Responding to the data packet; if the first distance value is less than the preset distance threshold, it is determined that there is an obstacle between the electronic device and the target device, so that when UWB technology is used for distance measurement or positioning, the distance between the electronic device and the target device can be quickly identified Whether there are obstacles in between.
可以理解的是，本实施例的障碍物检测装置的各程序模块的功能可根据上述方法实施例中的方法具体实现，其具体实现过程可以参照上述方法实施例的相关描述，此处不再赘述。It can be understood that the functions of each program module of the obstacle detection device in this embodiment can be specifically implemented according to the method in the above-mentioned method embodiment, and the specific implementation process can refer to the relevant description of the above-mentioned method embodiment, and will not be repeated here. .
本申请实施例还提供一种计算机存储介质，其中，该计算机存储介质存储用于电子数据交换的计算机程序，该计算机程序使得计算机执行如上述方法实施例中记载的任一方法的部分或全部步骤，上述计算机包括电子设备。An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program enables the computer to execute some or all of the steps of any method described in the above method embodiments , the above-mentioned computer includes electronic equipment.
本申请实施例还提供一种计算机程序产品，上述计算机程序产品包括存储了计算机程序的非瞬时性计算机可读存储介质，上述计算机程序可操作来使计算机执行如上述方法实施例中记载的任一方法的部分或全部步骤。该计算机程序产品可以为一个软件安装包，上述计算机包括电子设备。An embodiment of the present application also provides a computer program product, the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to enable the computer to execute any one of the methods described in the above method embodiments. Some or all steps of the method. The computer program product may be a software installation package, and the computer includes electronic equipment.
需要说明的是，对于前述的各方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为依据本申请，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本申请所必须的。It should be noted that for the foregoing method embodiments, for the sake of simple description, they are expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence. Depending on the application, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification belong to preferred embodiments, and the actions and modules involved are not necessarily required by this application.
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。In the foregoing embodiments, the descriptions of each embodiment have their own emphases, and for parts not described in detail in a certain embodiment, reference may be made to relevant descriptions of other embodiments.
在本申请所提供的几个实施例中，应该理解到，所揭露的装置，可通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如上述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the above units is only a logical function division. In actual implementation, there may be other division methods, for example, multiple units or components can be combined or integrated. to another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical or other forms.
上述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
上述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储器中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储器中，包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网络设备等)执行本申请各个实施例上述方法的全部或部分步骤。而前述的存储器包括：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。If the above-mentioned integrated units are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or part of the contribution to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory. Several instructions are included to make a computer device (which may be a personal computer, server or network device, etc.) execute all or part of the steps of the above-mentioned methods in various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储器中，存储器可以包括：闪存盘、只读存储器(英文：Read-Only Memory，简称：ROM)、随机存取器(英文：Random Access Memory，简称：RAM)、磁盘或光盘等。Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above-mentioned embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, and the memory can include: a flash disk , Read-only memory (English: Read-Only Memory, abbreviated: ROM), random access device (English: Random Access Memory, abbreviated: RAM), magnetic disk or optical disk, etc.
以上对本申请实施例进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。The embodiments of the present application have been introduced in detail above, and specific examples have been used in this paper to illustrate the principles and implementation methods of the present application. The descriptions of the above embodiments are only used to help understand the methods and core ideas of the present application; meanwhile, for Those skilled in the art will have changes in specific implementation methods and application scopes based on the ideas of the present application. In summary, the contents of this specification should not be construed as limiting the present application.
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